Multiresolution Path Planning with Wavelets: A Local Replanning Approach

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dc.contributor.author Cowlagi, Raghvendra V.
dc.contributor.author Tsiotras, Panagiotis
dc.date.accessioned 2011-02-11T18:39:09Z
dc.date.available 2011-02-11T18:39:09Z
dc.date.issued 2008
dc.identifier.citation Cowlagi, R., and Tsiotras, P., "Multiresolution Path Planning with Wavelets: A Local Replanning Approach,'' American Control Conference, Seattle, WA, June 11-13, 2008, pp. 1220-1225. en_US
dc.identifier.isbn 978-1-4244-2078-0
dc.identifier.issn 0743-1619
dc.identifier.uri http://hdl.handle.net/1853/36882
dc.description (c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier :  10.1109/ACC.2008.4586659 en_US
dc.description.abstract A path planning algorithm based on multiresolution cell decomposition of the environment using wavelets is proposed. The environment is assumed to be given by an occupancy grid at fine resolution. The algorithm constructs a cell decomposition at several levels of resolution (cell sizes) and constructs an optimal path to the destination from the current location of the agent. At each step the algorithm iteratively refines a coarse approximation to the path through local replanning. The replanning process uses previous information to refine the original cell channel in the immediate area of the path. This is done efficiently using the wavelet coefficients. Numerical tests show a speed-up of an order of magnitude over the baseline algorithm with minimal impact on the overall optimality of the resulting path. A comparative study with the well-known D* algorithm is also provided. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Path planning en_US
dc.subject Wavelet transforms en_US
dc.subject Mobile robots en_US
dc.title Multiresolution Path Planning with Wavelets: A Local Replanning Approach en_US
dc.type Post-print en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Aerospace Engineering
dc.publisher.original IEEE


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